Anderson-accelerated fixed-point method for solving multibody problems with bilateral constraints and non-smooth frictional contacts

We propose an Anderson-accelerated (AA) fixed-point iterative method for the efficient solution of rigid multibody problems involving large amounts of bilateral constraints and hard frictional contacts. The algorithm is rooted in a Projected Successive Over-Relaxation scheme as a way to solve the Cone Complementarity Problem that arises from the DVI formulation of mechanical non-smooth dynamics. By leveraging AA and introducing a number of modifications to its baseline idea, we are able to increase the convergence rate of a conventional fixed-point scheme up to the performance of state-of-the-art First-Order and Krylov solvers.